9 - acc_enable oad enable maxcoord maxcoord X position...

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A Wireless Rover With External Video Feedback Control Daniel J. Gibson Joanne Mikkelson April 26, 2004
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Project Goal
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System Overview car control system stop azimuth error motion control telemetry car target coordinates video camera 2 4 4 gray scale analog video video analysis system manual start manual stop video monitor
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Video System Analysis Posi Error Analysis posi ) i i 4 4 2 16 16 (analog) posi Frame Capture & tion Memory tion (x, y target pos tion, x azimuth error at target target pos tion, y NTSC video previous tion
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NTSC X position Y position 1-bit ADC data iti pixel Y H sync pixel X ive data Q D LD pixel H sync video in Pos on Analyzer V sync act Sample Available synchronizer V sync Video Sampler FSM value odd_field
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Position Analysis Strategy 1 2 1 0 1 3 3 3 3 3 4 4 1 1
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Position Analyzer pixel X coord coord l l 8 8 8 8 D Q LD D Q LD l X Counts Accumu ator Y Counts Accumu ator
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Unformatted text preview: acc_enable oad enable maxcoord maxcoord X position pixel value sample available Y position pixel Y active Car Control System manual stop manual start i ll 2 output i ls car module 2 4 l 4 8 3 azimuth error start at target mot on contro er wireless interface telemetry synchronizer stop wireless control telemetry telemetry mot on contro wireless board wireless speed contro Motion Controller start stop at target azimuth error wireless state telemetry l control i l (FSM) FPGA speed control control speed 2 3 2 4 4 3 2 2 2 synchronizer telemetry speed contro wireless mot on contro wireless board direction wireless wireless state telemetry telemetry (to LEDs) 3 Car Wireless speed sensor + + right rx/tx timer speed motor control (analog) restart 2 4 4 forward back left lr motor fb motor counter watchdog PWM count direction Pulse Width Modulation: slow fast Questions?...
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This note was uploaded on 07/21/2009 for the course EECS 6.111 taught by Professor Prof.ananthachandrakasan during the Spring '04 term at MIT.

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9 - acc_enable oad enable maxcoord maxcoord X position...

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